Author

Yuhua Jiang

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Preprint Sep 2026

How to Better Train VLAs: Lessons Learned From the REAL-I Challenge at ICRA 2026

How can robot policies learn more effectively from a fixed demonstration budget? The first Real-world Embodied AI Learning (REAL-I) Challenge at ICRA 2026 examined this question through simulation, real-robot evaluation, and an on-site final on a shared dual-arm humanoid platform. We describe the challenge tasks, data...

Jia-Ming Wang, Ji-Zhuo Chen, Di-Wen Liu et al. · 0 citations

Preprint Aug 2026

SCOPE: Score-Isolated Agentic Optimization for Video World Models

Video world models are increasingly used as simulators for planning and embodied decision making, yet improving them at inference time introduces a subtle evaluation problem: prompts, samplers, verifiers, and selectors may evolve together, making it difficult to attribute gains or prevent held-out feedback from shaping...

Yu-Hua Jiang, Jiaming Wang, Qing-Bin Liu et al. · 0 citations